import rclpy ##
from rclpy.node import Node
import rclpy.time ##
from tf2_ros import TransformListener,Buffer ##
from tf_transformations import euler_from_quaternion ##

class TFListener(Node):
    def __init__(self):
        super().__init__('tf2_listener')
        self.buffer = Buffer() 
        self.listener = TransformListener(self.buffer,self)
        self.timer = self.create_timer(1.0, self.get_transform)

    def get_transform(self):
        try:
            tf = self.buffer.lookup_transform('map','base_footprint',rclpy.time.Time(seconds=0),rclpy.time.Duration(seconds=1))
            transform = tf.transform
            rotation_euler = euler_from_quaternion([
                transform.rotation.x,
                transform.rotation.y,
                transform.rotation.z,
                transform.rotation.w
            ])
            self.get_logger().info(f'平移:{transform.translation},旋转四元数:{transform.rotation}，旋转欧拉角:{rotation_euler}')
        except Exception as e:
            self.get_logger().warn(f'不能获取坐标变换，原因:{str(e)}')

def main():
    rclpy.init()
    node=TFListener()
    rclpy.spin(node)
    rclpy.shutdown()

    
